Namespaces
	mesh

Classes
struct	GenerateStringOptions
	Parameters that specify what details about an api::RoadGeometry to print. More...

struct	Material
	Material information for built meshes. More...

struct	ObjFeatures
	Multitude of parameters for generating an OBJ model of a road surface, with sensible defaults. More...

struct	RoadGeometryMesh

class	ThreadPool
	Creates a pool of threads and a pool of tasks to be executed by the threads simultaneously. More...

Enumerations
enum	MaterialType { Asphalt, Lane, Marker, HBounds, BranchPointGlow, GrayedAsphalt, GrayedLane, GrayedMarker, Sidewalk }

Functions
std::string	GetSuffixFromPath (const std::string &filepath)
	Extracts the suffix of a file. More...

std::vector< std::string >	GetAllFilePathsFromDirectory (const std::string &directory_path, const std::optional< std::string > &ends_with_suffix)
	Get all filepaths from a particular directory. More...

std::vector< std::string >	GetAllPathsFromEnvironment (const std::string &env_var)
	Retrieves a list of paths that live in a environment variable. More...

void	GenerateDotStream (const routing::graph::Graph &graph, std::ostream *os)
	Generates a string representation in `os` of the `graph` using the DOT language. More...

void	GenerateDotStream (const routing::graph::Graph &graph, const routing::Route &route, std::ostream *os)
	Generates a string representation in `os` of the `graph` and `route` using the DOT language. More...

std::pair< mesh::GeoMesh, Material >	BuildMesh (const api::RoadGeometry *rg, const ObjFeatures &features, const api::LaneId &lane_id, const MaterialType &mesh_material)
	Builds a map of meshes based on `features` properties and the RoadGeometry. More...

std::pair< mesh::GeoMesh, Material >	BuildMesh (const api::RoadGeometry *rg, const ObjFeatures &features, const api::BranchPointId &branch_point_id, const MaterialType &mesh_material)
	Builds a map of meshes based on `features` properties and the RoadGeometry. More...

std::pair< mesh::GeoMesh, Material >	BuildMesh (const api::RoadGeometry *rg, const ObjFeatures &features, const api::SegmentId &segment_id, const MaterialType &mesh_material)
	Builds a map of meshes based on `features` properties and the RoadGeometry. More...

RoadGeometryMesh	BuildRoadGeometryMesh (const api::RoadGeometry *rg, const ObjFeatures &features)
	Builds a complete RoadGeometryMesh based on `features` properties and the RoadGeometry. More...

std::map< std::string, std::pair< mesh::GeoMesh, Material > >	BuildMeshes (const api::RoadGeometry *road_geometry, const ObjFeatures &features)
	Builds a map of meshes based on `features` properties and the api::RoadGeometry. More...

std::map< std::string, std::pair< mesh::GeoMesh, Material > >	BuildMeshes (const api::RoadNetwork *road_network, const ObjFeatures &features)
	Builds a map of meshes based on `features` properties and the api::RoadNetwork. More...

void	GenerateObjFile (const api::RoadGeometry *road_geometry, const std::string &dirpath, const std::string &fileroot, const ObjFeatures &features)
	Generates a Wavefront OBJ model of the road surface of an api::RoadGeometry. More...

void	GenerateObjFile (const api::RoadNetwork *road_network, const std::string &dirpath, const std::string &fileroot, const ObjFeatures &features)
	Generates a Wavefront OBJ model of the road surface of an api::RoadNetwork. More...

const Material &	GetMaterialByName (const std::string &material_name)
	Gets a Material based on `material_name` key. More...

std::string	GenerateString (const api::RoadGeometry &road_geometry, const GenerateStringOptions &options)
	Generates and returns a string containing details about the provided api::RoadGeometry. More...

void	GenerateUrdfFile (const api::RoadGeometry *road_geometry, const std::string &dirpath, const std::string &fileroot, const ObjFeatures &features)
	Generates a URDF file which models the road surface of an api::RoadGeometry. More...

std::unordered_set< const api::Segment * >	FindConfluentSegments (const api::Segment *seed_segment)
	Finds all Segments connected to `seed_segment` via confluent Lanes. More...

std::vector< std::unordered_set< const api::Segment * > >	AnalyzeConfluentSegments (const api::RoadGeometry *road_geometry)
	Analyzes how Segments in `road_geometry` are connected via confluency of their Lanes at BranchPoints. More...

std::string	to_str (double value, int precision)
	Converts a double to a string with the specified precision. More...

Material	GetMaterialFromMesh (const MaterialType mesh_material)

Enumeration Type Documentation

◆ MaterialType

enum MaterialType

strong

Enumerator
Asphalt
Lane
Marker
HBounds
BranchPointGlow
GrayedAsphalt
GrayedLane
GrayedMarker
Sidewalk

Function Documentation

◆ AnalyzeConfluentSegments()

std::vector< std::unordered_set< const api::Segment * > > AnalyzeConfluentSegments ( const api::RoadGeometry * road_geometry )

Analyzes how Segments in road_geometry are connected via confluency of their Lanes at BranchPoints.

Two Lanes which are confluent at a BranchPoint necessarily overlap near the BranchPoint, so the Segments which own those Lanes ought to belong to a common Junction. The output of this function is thus a lower-bound for how Segments should be grouped together into Junctions, which can be used for verifying or synthesizing (approximately) the Junction structure. (This function will not detect Lanes which have overlapping geometries independent of their BranchPoints.)

Returns: the set of connected components of Segments, as a vector of unordered_sets. The ordering of the components in the vector is arbitrary. Each Segment in road_geometry shall belong to exactly one component.

◆ BuildMesh() [1/3]

std::pair< mesh::GeoMesh, Material > BuildMesh	(	const api::RoadGeometry *	rg,
		const ObjFeatures &	features,
		const api::BranchPointId &	branch_point_id,
		const MaterialType &	mesh_material
	)

Builds a map of meshes based on features properties and the RoadGeometry.

Parameters

rg	The api::RoadGeometry to model.
features	Parameters for constructing the mesh.
branch_point_id	The ID of the api::BranchPoint to model.
mesh_material	The material to use for the api::BranchPoint.

Returns: A pair with of a mesh and the corresponding material

◆ BuildMesh() [2/3]

std::pair< mesh::GeoMesh, Material > BuildMesh	(	const api::RoadGeometry *	rg,
		const ObjFeatures &	features,
		const api::LaneId &	lane_id,
		const MaterialType &	mesh_material
	)

Builds a map of meshes based on features properties and the RoadGeometry.

Parameters

rg	the api::RoadGeometry to model.
features	Parameters for constructing the mesh.
lane_id	The ID of the api::Lane to model.
mesh_material	The material to use for the api::Lane.

Returns: A pair with of a mesh and the corresponding material

Exceptions

if	`mesh_material` is not one of Lane's valid mesh materials

◆ BuildMesh() [3/3]

std::pair< mesh::GeoMesh, Material > BuildMesh	(	const api::RoadGeometry *	rg,
		const ObjFeatures &	features,
		const api::SegmentId &	segment_id,
		const MaterialType &	mesh_material
	)

Builds a map of meshes based on features properties and the RoadGeometry.

Parameters

rg	The api::RoadGeometry to model.
features	Parameters for constructing the mesh.
segment_id	The ID of the api::Segment to model.
mesh_material	The material to use for the api::Segment.

Returns: A pair with of a mesh and the corresponding material

Exceptions

if	`mesh_material` is not one of Segment's valid mesh materials

◆ BuildMeshes() [1/2]

std::map< std::string, std::pair< mesh::GeoMesh, Material > > BuildMeshes	(	const api::RoadGeometry *	road_geometry,
		const ObjFeatures &	features
	)

Builds a map of meshes based on features properties and the api::RoadGeometry.

Parameters

road_geometry	The api::RoadGeometry to model.
features	Parameters for constructing the mesh.

Returns

A map with the meshes. Keys will be std::string objects in the following list:

asphalt
lane
marker
h_bounds
branch_point
grayed_asphalt
grayed_lane
grayed_marker
sidewalk

◆ BuildMeshes() [2/2]

std::map< std::string, std::pair< mesh::GeoMesh, Material > > BuildMeshes	(	const api::RoadNetwork *	road_network,
		const ObjFeatures &	features
	)

Builds a map of meshes based on features properties and the api::RoadNetwork.

Rules in the api::RoadRulebook will be used to change the direction of the of the lanes and the type of lanes when that information is available.

Parameters

road_network	The api::RoadNetwork to model.
features	Parameters for constructing the mesh.

Returns

A map with the meshes. Keys will be std::string objects in the following list:

asphalt
lane
marker
h_bounds
branch_point
grayed_asphalt
grayed_lane
grayed_marker
sidewalk

Exceptions

maliput::common::assertion_error When road_geometry is nullptr.

◆ BuildRoadGeometryMesh()

RoadGeometryMesh BuildRoadGeometryMesh	(	const api::RoadGeometry *	rg,
		const ObjFeatures &	features
	)

Builds a complete RoadGeometryMesh based on features properties and the RoadGeometry.

Parameters

rg	the api::RoadGeometry to model.
features	parameters for constructing the mesh.

Returns: A RoadGeometryMesh with all segment, lane, and branch point meshes

Exceptions

if	`mesh_material` is not one of BranchPoint's valid mesh materials

◆ FindConfluentSegments()

std::unordered_set< const api::Segment * > FindConfluentSegments ( const api::Segment * seed_segment )

Finds all Segments connected to seed_segment via confluent Lanes.

This function performs a breadth-first search over the graph of Segments, Lanes, and BranchPoints originating at seed_segment. It does not explore any other elements and does not require these elements to have valid ownership pointers upwards to Junctions or to a RoadGeometry.

Returns: an unordered_set of Segments connected to seed_segment, including seed_segment itself.

◆ GenerateDotStream() [1/2]

void GenerateDotStream	(	const routing::graph::Graph &	graph,
		const routing::Route &	route,
		std::ostream *	os
	)

Generates a string representation in os of the graph and route using the DOT language.

routing::graph::Edges are created as bidirectional, and labels are added to indicate api::Segment::id(). routing::graph::Nodes only indicate their routing::graph::NodeId. The route is indicated by changing the color to red of edges where it lays.

Parameters

graph	The routing::graph::Graph to serialize.
route	The routing::Route to highlight in red on top of the `graph`.
os	A pointer to a std::ostream to serialize the `graph`. It must not be nullptr.

Exceptions

common::assertion_error	When `os` is nullptr.
common::assertion_error	When `route's` involved api::Segments are not in `graph`.

◆ GenerateDotStream() [2/2]

void GenerateDotStream	(	const routing::graph::Graph &	graph,
		std::ostream *	os
	)

Generates a string representation in os of the graph using the DOT language.

routing::graph::Edges are created as bidirectional, and labels are added to indicate api::Segment::id(). routing::graph::Nodes only indicate their routing::graph::NodeId.

Parameters

graph	The routing::graph::Graph to serialize.
os	A pointer to a std::ostream to serialize the `graph`. It must not be nullptr.

Exceptions

common::assertion_error When os is nullptr.

◆ GenerateObjFile() [1/2]

void GenerateObjFile	(	const api::RoadGeometry *	road_geometry,
		const std::string &	dirpath,
		const std::string &	fileroot,
		const ObjFeatures &	features
	)

Generates a Wavefront OBJ model of the road surface of an api::RoadGeometry.

Parameters

road_geometry	the api::RoadGeometry to model
dirpath	directory component of the output pathnames
fileroot	root of the filename component of the output pathnames
features	parameters for constructing the mesh

GenerateObjFile actually produces two files: the first, named [dirpath]/[fileroot].obj, is a Wavefront OBJ containing the mesh which models the api::RoadGeometry. The second file is a Wavefront MTL file named [dirpath]/[fileroot].mtl, containing descriptions of materials referenced by the OBJ file.

The produced mesh covers the area within the segment-bounds of the road surface described by the RoadGeometry.

Exceptions

maliput::common::assertion_error	When `road_geometry` is nullptr.
maliput::common::assertion_error	When `road_geometry->linear_tolerance()` is zero.

◆ GenerateObjFile() [2/2]

void GenerateObjFile	(	const api::RoadNetwork *	road_network,
		const std::string &	dirpath,
		const std::string &	fileroot,
		const ObjFeatures &	features
	)

Generates a Wavefront OBJ model of the road surface of an api::RoadNetwork.

Rules in the api::RoadRulebook will be used to change the direction of the lanes and the type of lanes when that information is available.

Parameters

road_network	The api::RoadNetwork to model.
dirpath	Directory component of the output pathnames.
fileroot	Root of the filename component of the output pathnames.
features	Parameters for constructing the mesh.

GenerateObjFile actually produces two files: the first, named [dirpath]/[fileroot].obj, is a Wavefront OBJ containing the mesh which models the api::RoadNetwork. The second file is a Wavefront MTL file named [dirpath]/[fileroot].mtl, containing descriptions of materials referenced by the OBJ file.

The produced mesh covers the area within the segment-bounds of the road surface described by the road_network->road_geometry().

Exceptions

maliput::common::assertion_error When road_network is nullptr.

◆ GenerateString()

std::string GenerateString	(	const api::RoadGeometry &	road_geometry,
		const GenerateStringOptions &	options
	)

Generates and returns a string containing details about the provided api::RoadGeometry.

Parameters

road_geometry	The api::RoadGeometry.
options	Options that affect the types of information to include in the returned string.

Returns: The generated string.

◆ GenerateUrdfFile()

void GenerateUrdfFile	(	const api::RoadGeometry *	road_geometry,
		const std::string &	dirpath,
		const std::string &	fileroot,
		const ObjFeatures &	features
	)

Generates a URDF file which models the road surface of an api::RoadGeometry.

Parameters

road_geometry	the api::RoadGeometry to model
dirpath	directory component of the output pathnames
fileroot	root of the filename component of the output pathnames
features	parameters for constructing the mesh

GenerateUrdfFile() actually produces three files:

[dirpath]/[fileroot].urdf the URDF file, which is little more than a wrapper for an OBJ file;
[dirpath]/[fileroot].obj a Wavefront OBJ file containing the visual mesh which models the surface;
[dirpath]/[fileroot].mtl a Wavefront MTL file describing the materials referenced by the OBJ file.

The produced mesh covers the area within the lane-bounds of every api::Lane in the RoadGeometry.

◆ GetAllFilePathsFromDirectory()

std::vector< std::string > GetAllFilePathsFromDirectory	(	const std::string &	directory_path,
		const std::optional< std::string > &	ends_with_suffix
	)

Get all filepaths from a particular directory.

Parameters

directory_path	Path to the directory.
ends_with_suffix	When it is not nullopt, filepaths must end with the `ends_with_suffix` value.

Returns: The paths to all the files within directory_path. The returned paths are absolute if the directory_path is an absolute path, otherwise it will return relative paths.

◆ GetAllPathsFromEnvironment()

std::vector< std::string > GetAllPathsFromEnvironment ( const std::string & env_var )

Retrieves a list of paths that live in a environment variable.

When environment variable isn't set the list will be empty.

Parameters

env_var Environemnt variable.

Returns: A list of paths extracted from env_var.

◆ GetMaterialByName()

const Material & GetMaterialByName ( const std::string & material_name )

Gets a Material based on material_name key.

Possible material_name values may be any of the following:

asphalt
lane
marker
h_bounds
branch_point
grayed_asphalt
grayed_lane
grayed_marker
sidewalk

Parameters

material_name The key to get the material.

Returns: A const Material&

Exceptions

std::out_of_range if key is not found.

◆ GetMaterialFromMesh()

Material maliput::utility::GetMaterialFromMesh ( const MaterialType mesh_material )

◆ GetSuffixFromPath()

std::string GetSuffixFromPath ( const std::string & filepath )

Extracts the suffix of a file.

Parameters

filepath Path to a file.

Returns: The suffix of the file.

◆ to_str()

std::string to_str	(	double	value,
		int	precision
	)

Converts a double to a string with the specified precision.

Parameters

value	The double to convert.
precision	The number of digits after the decimal point.

Returns: The string representation of the double.

Namespaces

Classes

Enumerations

Functions

Enumeration Type Documentation

◆ MaterialType

Function Documentation

◆ AnalyzeConfluentSegments()

◆ BuildMesh() [1/3]

◆ BuildMesh() [2/3]

◆ BuildMesh() [3/3]

◆ BuildMeshes() [1/2]

◆ BuildMeshes() [2/2]

◆ BuildRoadGeometryMesh()

◆ FindConfluentSegments()

◆ GenerateDotStream() [1/2]

◆ GenerateDotStream() [2/2]

◆ GenerateObjFile() [1/2]

◆ GenerateObjFile() [2/2]

◆ GenerateString()

◆ GenerateUrdfFile()

◆ GetAllFilePathsFromDirectory()

◆ GetAllPathsFromEnvironment()

◆ GetMaterialByName()

◆ GetMaterialFromMesh()

◆ GetSuffixFromPath()

◆ to_str()